Mechanical arm tail end shake suppression device

Abstract

The utility model provides a mechanical arm tail end jittering suppression device, belongs to the technical field of mechanical arm tail end jittering suppression devices, and aims to solve the problems that when a displacement compensator is adopted to control jittering of the tail end of a simple mechanical arm, economy is not achieved, the process of data acquisition and parameter debugging is tedious, manpower is wasted, and the working efficiency is high. Comprising an anti-rust shell, a single-shaft mechanical arm, a brushless motor, a first holder, a second holder, a restraining mechanism and a triggering mechanism. The single-shaft mechanical arm is arranged on the side face of the rust-proof shell. The brushless motor is fixedly connected to the interior of the rust-proof shell; the first retainer is fixedly connected to the interior of the rust-proof shell; the second retainer is fixedly connected to the interior of the rust-proof shell; the inhibiting mechanism is arranged in the rust-proof shell; and the trigger mechanism is arranged in the rust-proof shell. The single-shaft mechanical arm tail end vibration suppression device has the advantages that vibration suppression of the single-shaft mechanical arm tail end is completed through a simple mechanical device, economical efficiency and reliability are improved, and operation steps are simplified.

Description

Technical Field

[0001] The utility model belongs to the technical field of a mechanical arm end jitter suppression device, and more specifically, particularly relates to a mechanical arm end jitter suppression device. Background Art

[0002] Usually, a robot arm has multiple joint segments, and the end of the robot arm is flexible. When the robot arm moves in a straight line to a specified position, it needs to stop moving immediately. At this time, the end of the robot arm will vibrate. Usually, it is necessary to wait until the residual vibration is reduced to an allowable range before the next step can be carried out. The existence of residual vibration not only affects the positioning accuracy, but also seriously reduces the production efficiency. Therefore, a jitter suppression device is set to control the vibration of the end of the robot arm. The existing jitter suppression device for the end of the robot arm usually uses a displacement compensator to reversely compensate for the position offset at the end of the robot arm. Based on the displacement compensation mechanism and combined with the PID control method The method is to control the displacement compensator to achieve real-time adaptive compensation for the complex and variable frequency jitter of the end of the robot arm. When using the displacement compensator to suppress jitter, a large amount of jitter data of the end of the robot arm is required. Then, after analyzing a large amount of data, the parameters are set and the influence of changes in various parameters on the jitter reduction effect is observed. According to the influence of each parameter on the jitter reduction effect and the main jitter frequency of the end of the robot arm, the parameter values ​​of the displacement compensator are determined. Finally, simulation and experiments are used to continuously improve the effectiveness of the displacement compensator to ensure that when jitter occurs at the end of the robot arm, the displacement compensator can control and weaken the jitter of the end of the robot arm to the maximum extent.

[0003] The existing application number is: CN202211237461.1. This application relates to the field of mechanical control, and discloses a method, device, electronic device and storage medium for suppressing jitter at the end of a robotic arm. The method for suppressing jitter at the end of the robotic arm includes: obtaining first jitter data of the end of the robotic arm under jitter conditions, and determining a jitter compensation signal based on the first jitter data; suppressing the jitter of the end of the robotic arm through the jitter compensation signal, and detecting the jitter condition of the end of the robotic arm to obtain second jitter data; judging whether it is necessary to optimize the jitter compensation signal and suppress jitter at the end of the robotic arm again based on the second jitter data and a preset jitter data range; when the second jitter data meets the preset jitter data range, storing the jitter compensation signal corresponding to the second jitter data. This application solves the technical problem of poor jitter suppression effect at the end of a robotic arm.

[0004] Based on the above, in some small manufacturing plants, some simple robotic arms are often used to assist production. These simple robotic arms can replace some simple repetitive manual operations, which can save a lot of manpower and improve production efficiency. When in use, the simple robotic arms only need to clamp the product from point A and transfer it in a straight line to point B to put the workpiece down. These simple robotic arms only need to complete simple transfer operations, and the accuracy requirements of the simple robotic arms are not high. In the process of these simple robotic arms moving in a straight line to point B to put the workpiece down, although the accuracy requirements of the simple robotic arms are not high, if the end of the simple robotic arm shakes too much, it is still easy to cause position deviation of the workpiece. If a displacement compensator is used to control the shake of the end of the simple robotic arm, the cost of adding the displacement compensator is relatively expensive and it is also necessary to collect a large amount of simple robotic arm end shake data and repeatedly debug various parameters of the displacement compensator. The process is cumbersome and wastes manpower. Utility Model Content

[0005] In order to solve the above technical problems, the utility model provides a device for suppressing the jitter of the end of a robotic arm to solve the existing problem of using a displacement compensator to control the jitter of the end of a simple robotic arm. First of all, the cost of adding a displacement compensator is relatively expensive and it is also necessary to collect a large amount of jitter data of the end of the simple robotic arm and repeatedly debug various parameters of the displacement compensator. The process is relatively cumbersome and wastes manpower.

[0006] The purpose and effect of the vibration suppression device of the end of the mechanical arm of the utility model are achieved by the following specific technical means:

[0007] A mechanical arm end vibration suppression device comprises a rust-proof housing, a single-axis mechanical arm, a brushless motor, a main transmission shaft, a first gear, a second gear, a first retaining frame, a second retaining frame, a suppression mechanism and a trigger mechanism;

[0008] The single-axis mechanical arm is arranged on the side of the rust-proof housing;

[0009] The brushless motor is fixedly connected inside the rust-proof housing, and when the brushless motor is not powered, the motor shaft of the brushless motor can rotate freely;

[0010] The main transmission shaft is rotatably connected inside the rust-proof housing, and the main transmission shaft is coaxially fixedly connected with the motor shaft of the brushless motor;

[0011] The first gear is fixedly connected to the outer periphery of the main transmission shaft;

[0012] The second gear is fixedly connected to the outer periphery of one end of the main transmission shaft;

[0013] The first retaining frame is fixedly connected to the inside of the rust-proof housing;

[0014] The second retaining frame is fixedly connected to the inside of the rust-proof housing;

[0015] The suppression mechanism is arranged inside the rust-proof housing;

[0016] The trigger mechanism is arranged inside the rust-proof housing.

[0017] Further, the trigger mechanism includes a trigger rack and a trigger gear;

[0018] The trigger gear is rotatably connected to the inside of the rust-proof housing;

[0019] The trigger rack slides inside the rust-proof housing, and the trigger rack is meshed with the trigger gear.

[0020] Furthermore, the trigger mechanism also includes a trigger spring and a reset rack;

[0021] One end of the trigger spring is fixedly connected to the inside of the rust-proof housing;

[0022] The reset rack is rotatably connected to the inside of the rust-proof housing, the reset rack is fixedly connected to the other end of the trigger spring, and the reset rack is meshed with the trigger gear.

[0023] Furthermore, the trigger mechanism also includes a ball plunger type travel switch;

[0024] The ball plunger type travel switch is fixedly connected inside the rust-proof housing. A plunger, a movable contact, a fixed contact and a spring are arranged inside the ball plunger type travel switch. When the plunger is pushed, the plunger is pushed to compress the spring, so that the movable contact inside the ball plunger type travel switch contacts with the fixed contact, and an electrical signal is output. The brushless motor can be started after receiving the electrical signal output by the ball plunger type travel switch. When the plunger is not pushed, the spring force moves the plunger and the movable contact back to their original positions, disconnecting the circuit, and the brushless motor stops rotating at this time.

[0025] Further, the suppression mechanism includes a first rack and a first clamping jaw;

[0026] The first rack slides inside the rust-proof housing, and the first rack meshes with the first gear;

[0027] The first clamping jaw is fixedly connected to one end of the first rack.

[0028] Further, the suppression mechanism also includes a second clamping jaw, a second rack and a slide connecting member;

[0029] The second rack slides inside the rust-proof housing, and the second rack meshes with the second gear;

[0030] The slide plate connecting piece slides inside the rust-proof housing, and the slide plate connecting piece is fixedly connected to the outer periphery of one end of the second rack;

[0031] The second clamping claw is fixedly connected to the side of the slide connecting piece.

[0032] Furthermore, the suppression mechanism further includes a first limiting shaft, a second limiting shaft and a return spring;

[0033] There are two groups of the first limiting shafts, which slide inside the second retaining frame respectively, and are fixedly connected to the second clamping jaws respectively. When the second clamping jaw moves, the two groups of first limiting shafts play a role of limiting and stabilizing.

[0034] There are two groups of the second limiting shafts, which slide inside the first retaining frame respectively, and are fixedly connected to the first clamping jaws respectively. When the first clamping jaw moves, the two groups of second limiting shafts play a role of limiting and stabilizing.

[0035] One end of the return spring is fixedly connected to the inside of the first retaining frame, and the other end of the return spring is fixedly connected to the first clamping jaw. The return spring can help the first clamping jaw to reset.

[0036] Compared with the prior art, the utility model has the following beneficial effects:

[0037] The utility model sets a trigger mechanism, when the end of the single-axis mechanical arm shakes after stopping moving, the single-axis mechanical arm will touch and push the trigger rack, and when the trigger rack is pushed, it will push the plunger of the ball plunger type travel switch to make the ball plunger type travel switch output an electrical signal to start the brushless motor, and when the single-axis mechanical arm stops shaking, it will not touch the trigger rack. At this time, under the elastic force of the trigger spring, the trigger rack no longer touches the plunger, and the self-acting force of the spring inside the ball plunger type travel switch can move the plunger and the movable contact back to the original position to disconnect the circuit, and the brushless motor will stop rotating at this time, thereby achieving the goal of rotating the brushless motor when the end of the single-axis mechanical arm shakes, and stopping rotating the brushless motor when the single-axis mechanical arm stops shaking.

[0038] The utility model sets a suppression mechanism, and the brushless motor rotates through the main transmission shaft, the first gear, the second gear and the first rack to move the first clamping jaw inwardly, and the second gear rotates through the second rack and the slide connecting piece to move the second clamping jaw inwardly, and the first clamping jaw and the second clamping jaw move inwardly at the same time to clamp the end of the single-axis mechanical arm to prevent the end of the single-axis mechanical arm from shaking. When the single-axis mechanical arm stops shaking, under the elastic force of the return spring itself, the first clamping jaw and the second clamping jaw will move outwardly at the same time, so that the end of the single-axis mechanical arm can have the original degree of freedom and smoothly complete the operation of placing the workpiece.

[0039] The utility model avoids the position deviation of the single-axis mechanical arm when placing a workpiece, adopts a simple mechanical device to complete the jitter suppression of the end of the single-axis mechanical arm, improves economy and reliability, simplifies the operation steps, saves manpower for debugging, and improves work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0041] Figure 2 It is a schematic diagram of the structure of a single-axis mechanical arm of the utility model.

[0042] Figure 3 It is a schematic diagram of the return spring structure of the utility model.

[0043] Figure 4 It is a schematic diagram of the trigger mechanism structure of the utility model.

[0044] Figure 5 It is a schematic diagram of the structure of the suppression mechanism of the utility model.

[0045] Figure 6 It is a schematic diagram of the second gear structure of the utility model.

[0046] In the figure, the corresponding relationship between the component names and the figure numbers is as follows:

[0047] 1. Rust-proof housing; 2. Single-axis robotic arm; 3. Brushless motor; 4. Main transmission shaft; 5. First gear; 6. Second gear; 7. First rack; 8. First clamp; 9. First limit shaft; 10. First retaining frame; 11. Second rack; 12. Slide connecting piece; 13. Second limit shaft; 14. Second retaining frame; 15. Trigger rack; 16. Trigger gear; 17. Reset rack; 18. Trigger spring; 19. Ball plunger type travel switch; 20. Second clamp; 21. Return spring. DETAILED DESCRIPTION

[0048] The following is a further detailed description of the implementation of the present utility model in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present utility model, but cannot be used to limit the scope of the present utility model.

[0049] Embodiment 1:

[0050] As attached Figure 1 To Attachment Figure 4 As shown:

[0051] The utility model provides a mechanical arm end vibration suppression device, comprising a rust-proof housing 1, a single-axis mechanical arm 2, a brushless motor 3, a main transmission shaft 4, a first gear 5, a second gear 6, a first retaining frame 10, a second retaining frame 14 and a trigger mechanism;

[0052] The single-axis mechanical arm 2 is arranged on the side of the rust-proof housing 1;

[0053] The brushless motor 3 is fixedly connected inside the rust-proof housing 1. When the brushless motor 3 is not powered, the motor shaft of the brushless motor 3 can rotate freely.

[0054] The main transmission shaft 4 is rotatably connected to the inside of the rust-proof housing 1, and the main transmission shaft 4 is coaxially fixedly connected to the motor shaft of the brushless motor 3;

[0055] The first gear 5 is fixedly connected to the outer periphery of the main transmission shaft 4;

[0056] The second gear 6 is fixedly connected to the outer periphery of one end of the main transmission shaft 4;

[0057] The first retainer 10 is fixedly connected to the inside of the rust-proof housing 1;

[0058] The second retainer 14 is fixedly connected to the inside of the rust-proof housing 1;

[0059] The trigger mechanism is arranged inside the rust-proof housing 1 .

[0060] Wherein, the trigger mechanism includes a trigger rack 15 and a trigger gear 16;

[0061] The trigger gear 16 is rotatably connected to the inside of the rust-proof housing 1;

[0062] The trigger rack 15 slides inside the rust-proof housing 1 , and the trigger rack 15 is meshed with the trigger gear 16 .

[0063] The trigger mechanism further includes a trigger spring 18 and a reset rack 17;

[0064] One end of the trigger spring 18 is fixedly connected to the inside of the rust-proof housing 1;

[0065] The reset rack 17 is rotatably connected to the inside of the rust-proof housing 1 , the reset rack 17 is fixedly connected to the other end of the trigger spring 18 , and the reset rack 17 is meshed with the trigger gear 16 .

[0066] Wherein, the trigger mechanism also includes a ball plunger type travel switch 19;

[0067] The ball plunger type travel switch 19 is fixedly connected to the inside of the rust-proof housing 1. The ball plunger type travel switch 19 is provided with a plunger, a movable contact, a fixed contact and a spring. When the plunger is pushed, the plunger is pushed to compress the spring, so that the movable contact inside the ball plunger type travel switch 19 contacts with the fixed contact, and an electrical signal is output. The brushless motor 3 can be started after receiving the electrical signal output by the ball plunger type travel switch 19. When the plunger is not pushed, the spring force moves the plunger and the movable contact back to their original position, disconnecting the circuit, and the brushless motor 3 stops rotating at this time.

[0068] The specific usage and function of the first embodiment are as follows:

[0069] During use, the rust-proof housing 1 is installed at the final moving position of the single-axis robotic arm 2, and the trigger rack 15 is also installed at a suitable position inside the rust-proof housing 1. When the single-axis robotic arm 2 moves to the specified position without shaking, it will not touch the trigger rack 15. The single-axis robotic arm 2 needs to stop moving immediately after clamping the workpiece and moving in a straight line to the final moving position. When the end of the single-axis robotic arm 2 shakes after stopping moving, the single-axis robotic arm 2 will touch and push the trigger rack 15. When the trigger rack 15 is pushed, it will push the plunger of the ball plunger type travel switch 19. When the plunger is pushed, it will compress the spring of the ball plunger type travel switch 19, so that the movable contact inside the ball plunger type travel switch 19 contacts the fixed contact, outputs an electrical signal, and the brushless motor 3 receives the ball plunger type travel switch. 19 can be started after the electrical signal output by 19. When the trigger rack 15 is pushed, the reset rack 17 will slide through the trigger gear 16. The sliding of the reset rack 17 will cause the trigger spring 18 to generate elastic force. When the single-axis robotic arm 2 stops shaking, the single-axis robotic arm 2 will not touch the trigger rack 15. At this time, under the elastic force of the trigger spring 18, the reset rack 17 will slide and restore the trigger rack 15 to its original position through the trigger gear 16. At this time, the plunger is no longer touched, and the self-action force of the spring inside the ball plunger type travel switch 19 can move the plunger and the movable contact back to the original position, disconnecting the circuit. At this time, the brushless motor 3 will stop rotating, realizing that when the end of the single-axis robotic arm 2 shakes, the brushless motor 3 will rotate, and when the single-axis robotic arm 2 stops shaking, the brushless motor 3 will stop rotating.

[0070] Embodiment 2:

[0071] Based on the first embodiment, Figures 1 to 6 As shown, a suppression mechanism is also included, and the suppression mechanism is arranged inside the rust-proof housing 1;

[0072] Wherein, the restraining mechanism comprises a first rack 7 and a first clamping jaw 8;

[0073] The first rack 7 slides inside the rust-proof housing 1, and the first rack 7 is meshed with the first gear 5;

[0074] The first clamping jaw 8 is fixedly connected to one end of the first rack 7 .

[0075] The restraining mechanism further includes a second clamping jaw 20, a second rack 11 and a slide connecting member 12;

[0076] The second rack 11 slides inside the rust-proof housing 1, and the second rack 11 is meshed with the second gear 6;

[0077] The slide connecting member 12 slides inside the rust-proof housing 1, and the slide connecting member 12 is fixedly connected to the outer periphery of one end of the second rack 11;

[0078] The second clamping jaw 20 is fixedly connected to the side of the slide connecting member 12 .

[0079] The restraining mechanism further includes a first limiting shaft 9, a second limiting shaft 13 and a return spring 21;

[0080] There are two groups of first limiting shafts 9, which slide inside the second retaining frame 14 respectively. The two groups of first limiting shafts 9 are fixedly connected to the second clamping jaws 20 respectively. When the second clamping jaws 20 move, the two groups of first limiting shafts 9 play a role of limiting and stabilizing.

[0081] There are two groups of second limiting shafts 13, which slide inside the first retaining frame 10 respectively, and are fixedly connected to the first clamping jaw 8 respectively. When the first clamping jaw 8 moves, the two groups of second limiting shafts 13 play a role of limiting and stabilizing.

[0082] One end of the return spring 21 is fixedly connected to the inside of the first retaining frame 10 , and the other end of the return spring 21 is fixedly connected to the first clamping jaw 8 . The return spring 21 can help the first clamping jaw 8 to reset.

[0083] The specific usage and function of the second embodiment are as follows:

[0084] During use, when the end of the single-axis robotic arm 2 shakes, the brushless motor 3 will rotate, and the rotation of the brushless motor 3 drives the main transmission shaft 4 to rotate, and the rotation of the main transmission shaft 4 drives the first gear 5 and the second gear 6 to rotate, and the first gear 5 rotates through the first rack 7 to make the first clamping jaw 8 move inward. When the first clamping jaw 8 moves, the two groups of second limiting shafts 13 play a role of limiting and stabilizing, and the second gear 6 rotates through the second rack 11 and the slide connecting piece 12 to make the second clamping jaw 20 move inward. When the second clamping jaw 20 moves, the two groups of first limiting shafts 9 play a role of limiting and stabilizing, and the first clamping jaw 8 and the second clamping jaw 20 move inward at the same time to clamp the end of the single-axis robotic arm 2, preventing the shaking of the end of the single-axis robotic arm 2 and avoiding the position deviation of the single-axis robotic arm 2 when placing the workpiece. The vibration suppression of the end of the single-axis robotic arm 2 is completed by a simple mechanical device, which improves The advantages of economy and reliability simplify the operation steps, save manpower for debugging, and improve work efficiency. When the single-axis robot arm 2 stops shaking, the brushless motor 3 will stop rotating. At this time, under the elastic force of the return spring 21 itself, the first clamping jaw 8 moves outward. The first clamping jaw 8 moves outward and also causes the first gear 5 to rotate in the opposite direction through the first rack 7. The first gear 5 rotates through the main transmission shaft 4 to cause the second gear 6 to rotate in the opposite direction. When the brushless motor 3 is not powered on, the motor shaft of the brushless motor 3 can rotate freely, so the main transmission shaft 4 can also rotate freely. The second gear 6 rotates in the opposite direction through the second rack 11 and the slide connector 12 to move the second clamping jaw 20 outward. The first clamping jaw 8 and the second clamping jaw 20 move outward at the same time, which can cancel the limit on the end of the single-axis robot arm 2, so that the end of the single-axis robot arm 2 can have the original degree of freedom and successfully complete the operation of placing the workpiece.

Claims

1. A device for suppressing vibration at the end of a robot arm, comprising a rust-proof housing (1), a single-axis robot arm (2), a brushless motor (3), a main transmission shaft (4), a first gear (5), a second gear (6), a first retaining frame (10), a second retaining frame (14), a suppression mechanism and a trigger mechanism; the single-axis robot arm (2) is arranged on the side of the rust-proof housing (1); the brushless motor (3) is fixedly installed inside the rust-proof housing (1); and the characteristics are: The main transmission shaft (4) is rotatably mounted inside the rust-proof housing (1), and the main transmission shaft (4) is coaxially fixedly connected to the motor shaft of the brushless motor (3); the first gear (5) is fixedly mounted on the outer periphery of the main transmission shaft (4); the suppression mechanism is arranged inside the rust-proof housing (1); the trigger mechanism is arranged inside the rust-proof housing (1); the second gear (6) is fixedly mounted on the outer periphery of one end of the main transmission shaft (4); the first retaining frame (10) is fixedly mounted inside the rust-proof housing (1); and the second retaining frame (14) is fixedly mounted inside the rust-proof housing (1).

2. A robot arm end jitter suppression device as claimed in claim 1, characterized in that: The trigger mechanism comprises a trigger rack (15) and a trigger gear (16); the trigger gear (16) is rotatably mounted inside the rust-proof housing (1); the trigger rack (15) slides inside the rust-proof housing (1), and the trigger rack (15) meshes with the trigger gear (16).

3. A mechanical arm end jitter suppression device as claimed in claim 2, characterized in that: The trigger mechanism further comprises a trigger spring (18) and a reset rack (17); one end of the trigger spring (18) is fixedly mounted inside the rust-proof housing (1); the reset rack (17) is rotatably mounted inside the rust-proof housing (1), the reset rack (17) is fixedly connected to the other end of the trigger spring (18), and the reset rack (17) is meshed with the trigger gear (16).

4. A mechanical arm end jitter suppression device as claimed in claim 2, characterized in that: The trigger mechanism also includes a ball plunger type travel switch (19); the ball plunger type travel switch (19) is fixedly installed inside the rust-proof housing (1), and the ball plunger type travel switch (19) is provided with a plunger, a movable contact, a fixed contact and a spring inside.

5. A mechanical arm end jitter suppression device as claimed in claim 1, characterized in that: The suppression mechanism comprises a first rack (7) and a first clamp (8); the first rack (7) slides inside the rust-proof housing (1), and the first rack (7) meshes with the first gear (5); the first clamp (8) is fixedly mounted on one end of the first rack (7).

6. A mechanical arm end jitter suppression device as claimed in claim 5, characterized in that: The suppression mechanism further comprises a second clamping jaw (20), a second rack (11) and a slide connecting piece (12); the second rack (11) slides inside the rust-proof housing (1), and the second rack (11) meshes with the second gear (6); the slide connecting piece (12) slides inside the rust-proof housing (1), and the slide connecting piece (12) is fixedly connected to the outer periphery of one end of the second rack (11); the second clamping jaw (20) is fixedly mounted on the side of the slide connecting piece (12).

7. A mechanical arm end jitter suppression device as claimed in claim 5, characterized in that: The suppression mechanism also includes a first limiting shaft (9), a second limiting shaft (13) and a return spring (21); there are two groups of the first limiting shaft (9), the two groups of the first limiting shaft (9) slide respectively inside the second retaining frame (14), and the two groups of the first limiting shaft (9) are respectively fixedly connected to the second clamping jaw (20); there are two groups of the second limiting shaft (13), the two groups of the second limiting shaft (13) slide respectively inside the first retaining frame (10), and the two groups of the second limiting shaft (13) are respectively fixedly connected to the first clamping jaw (8); one end of the return spring (21) is fixedly installed inside the first retaining frame (10), and the other end of the return spring (21) is fixedly connected to the first clamping jaw (8).

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